Revision 921
i2c library for the bay boards
detects xbee presence to determine master/slave
branches/autonomous_recharging/code/projects/Test/i2c.c | ||
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#include "bayboard_lib.h" |
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#include "../libwireless/lib/wireless.h" |
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#include "../libwireless/lib/wl_token_ring.h" |
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int xbee_present(void); |
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static int xbee_send(char*, int); |
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static int xbee_send_string(char*, int); |
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static int xbee_enter_command_mode(void); |
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static int xbee_exit_command_mode(void); |
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static int xbee_wait_for_ok(void); |
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static int xbee_wait_for_string(char*, int); |
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int xbee_present(void){ |
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bayboard_init(ALL_ON); |
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set_orb(255,0,0); |
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if(xbee_enter_command_mode() == -1){ |
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return 0; |
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} |
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if(xbee_exit_command_mode() == -1){ |
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return 0; |
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} |
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return 1; |
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} |
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static int xbee_send(char* buf, int size) |
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{ |
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int i; |
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for (i = 0; i < size; i++) { |
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xbee_putc(buf[i]); |
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} |
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return 0; |
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} |
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static int xbee_send_string(char* c, int len) |
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{ |
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return xbee_send(c, len); |
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} |
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/** |
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* Enter into command mode. |
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**/ |
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static int xbee_enter_command_mode() |
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{ |
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if (xbee_send_string("+++\r", 4) != 0) { |
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return -1; |
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} |
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if (xbee_wait_for_ok() != 0) { |
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return -1; |
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} |
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return 0; |
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} |
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/** |
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* Exit from command mode. |
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**/ |
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static int xbee_exit_command_mode() |
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{ |
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if (xbee_send_string("ATCN\r", 5) != 0) { |
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return -1; |
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} |
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xbee_wait_for_ok(); |
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return 0; |
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} |
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/** |
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* Wait until the string "OK\r" is received from the XBee. |
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**/ |
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//TODO: this function is so simple, it *may* be beneficial to inline this function. testing of if |
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// it reduces code size or not should be done to be sure. |
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static int xbee_wait_for_ok() |
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{ |
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return xbee_wait_for_string("OK\r", 3); |
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} |
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/** |
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* Delay until the specified string is received from |
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* the XBee. Discards all other XBee data. |
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* |
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* @param s the string to receive |
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* @param len the length of the string |
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**/ |
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static int xbee_wait_for_string(char* s, int len) |
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{ |
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long long timeout = 0; |
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int cur = 0; |
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while (cur < len) { |
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if(timeout > 160000){ |
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return -1; |
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} |
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if(xbee_getc_nb(s + cur) == 0){ |
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timeout = 0; |
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cur++; |
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} |
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timeout++; |
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} |
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return 0; |
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} |
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